Robotic navigation system and method

Abstract

A robotic navigation system includes a handheld navigation unit associated with a frame of reference. The handheld navigation unit is moveable with respect to a plurality of axes and is configured to send movement signals based on movement of the handheld navigation unit. A controller is configured to receive the movement signals from the handheld navigation unit and determine control signals for the robot. The control signals are configured to incrementally move the robot with respect to a point of interest removed from the robot. The point of interest is removed from a fixed point on the robot as defined by assigned coordinates. The controller is further configured to reassign the assigned coordinates following each incremental movement of the robot.

What is claimed is: 
     
         1 . A robotic navigation system configured to move a robot, the robotic navigation system comprising:
 a handheld navigation unit associated with a frame of reference, the handheld navigation unit moveable with respect to a plurality of axes, the handheld navigation unit configured to send movement signals based on movement of the handheld navigation unit; and   a robot controller configured to receive the movement signals from the handheld navigation unit and determine robot control signals for the robot, the robot control signals configured to incrementally move the robot with respect to a point of interest removed from the robot, the point of interest removed from a fixed point on the robot as defined by assigned coordinates, the robot controller configured to reassign the assigned coordinates for the point of interest following each incremental movement of the robot.   
     
     
         2 . The robotic navigation system of  claim 1  wherein the fixed point on the robot is located on a mounting flange of the robot. 
     
     
         3 . The robotic navigation system of  claim 1  wherein the point of interest is located on a stationary tool that is decoupled from the robot. 
     
     
         4 . The robotic navigation system of  claim 3  wherein the frame of reference associated with the handheld navigation unit is defined by the stationary tool. 
     
     
         5 . The robotic navigation system of  claim 1  wherein the frame of reference associated with the handheld navigation unit is defined by a portion of the robot including the fixed point on the robot. 
     
     
         6 . The robotic navigation system of  claim 1  wherein movement of the handheld navigation unit in one direction with respect to a given axis results in movement of the fixed point on the robot in a related direction. 
     
     
         7 . The robotic navigation system of  claim 1  wherein the handheld navigation unit includes a mount configured to engage any one of a plurality of mounting features positioned at a plurality of mounting points on the robot or in proximity of the robot, wherein each of the plurality of mounting points is associated with a unique frame of reference. 
     
     
         8 . The robotic navigation system of  claim 7  wherein the plurality of mounting features include magnets configured to engage a magnet of opposite polarity on the handheld navigation unit. 
     
     
         9 . The robotic navigation system of  claim 7  wherein the plurality of mounting features includes unique identifiers. 
     
     
         10 . The robotic navigation system of  claim 9  wherein the unique identifiers are selected from one of RFID tags, barcodes, QR codes, and resistors. 
     
     
         11 . The robotic navigation system of  claim 1  wherein the controller is configured to operate in one of a world coordinate mode, a tool coordinate mode, or a remote tool mode, the frame of reference in the world coordinate mode associated with a point on a base of the robot, the frame of reference in the tool coordinate mode associated with a point on a mounting flange of the robot, and the frame of reference in the remote tool mode based on a point on a stationary tool. 
     
     
         12 . The robotic navigation system of  claim 1  wherein the controller is part of a mobile computer. 
     
     
         13 . The robotic navigation system of  claim 12  wherein the mobile computer includes a seat for the handheld navigation unit. 
     
     
         14 . A robotic system comprising:
 a robot including an arm and a mounting flange, the mounting flange moveable with respect to a point of interest that is decoupled from the robot, the point of interest defined by a set of coordinates relative to a point on the robot;   a navigation unit positioned on the robot and associated with a frame of reference, the navigation unit moveable with respect to a plurality of axes, the navigation unit configured to send movement signals based on movement of the navigation unit; and   a robot controller configured to receive the movement signals from the navigation unit, determine a current robot location, calculate a target location for the robot, transmit robot control signals configured to move the robot, and update the set of coordinates based on movement of the robot.   
     
     
         15 . The robotic system of  claim 14  further comprising at least one mounting member positioned on the arm of the robot, the navigation unit mounted on the mounting member. 
     
     
         16 . The robotic system of  claim 14  wherein the navigation unit is positioned at a location removed from the robot. 
     
     
         17 . The robotic system of  claim 14  wherein the point of interest is a point on a stationary tool. 
     
     
         18 . The robotic system of  claim 14  wherein the robot is an articulating robot. 
     
     
         19 . A method of controlling a robot comprising:
 receiving movement signals from a navigation unit;   receiving offset distance signals from a sensor;   determining a current robot location;   calculating a target location for the robot relative to a current point of interest, the current point of interest decoupled from the robot and defined by assigned coordinates relative to a zero coordinate on the robot;   transmitting robot control signals configured to move the robot; and   reassign the assigned coordinates based on movement of the robot.   
     
     
         20 . The method of  claim 19  wherein the navigation unit is associated with a frame of reference and wherein the current point of interest is located on a stationary tool that is decoupled from the robot.